机器人Issue(3)：271-276,285,7.DOI:10.13973/j.cnki.robot.2015.0271
基于平面约束的欠驱动爬壁机器人手眼标定方法
Plane-constraint Based Hand-Eye Calibration Method for Underactuated Wall-climbing Robot
摘要
Abstract
The underactuated robot has difficulties in realizing multiple pose variations as fully articulated robots, there-fore the classical hand-eye calibration method can not be directly applied. To solve this problem, a mathematical model is developed and a hand-eye calibration method is proposed based on plane constraints. In this method, the motion of the end effector of the underactuated robot is constrained on a predetermined plane in 3D space. The pose matrices and translation vectors in hand-eye calibration are decoupled through pure translation and rotation motions of the end effector according to corresponding calibration images. Monte Carlo simulations demonstrate the effectiveness and accuracy of the method, as well as its robustness against noises. The experiment on the developed underactuated climbing robot is performed, and the localization error is controlled under 1.5 mm. The results prove that the proposed method is simple and accurate enough for practical applications.关键词
机器视觉/欠驱动机器人/手眼标定/平面约束Key words
machine vision/underactuated robot/hand-eye calibration/plane constraint分类
信息技术与安全科学引用本文复制引用
刘佳君,孙振国,张文增,陈强..基于平面约束的欠驱动爬壁机器人手眼标定方法[J].机器人,2015,(3):271-276,285,7.基金项目
国家自然科学基金资助项目（51475259）；国家863计划资助项目（2007AA04Z258）． （）
